Header header

float64 computation_time
float64 freespace_time
float64 cost
float64 kkt
int32 iterations

float64 wC
float64 wL
float64 wV
float64 wW

float64 window
int32 search_points
int32 enable_output

int32 total_trials
int32 collision
int32 total_success
int32 total_timeout

float64 time_to_reach
float64 vRef
float64 time_of_arrival

float64 obstacle_distance1
float64 obstacle_distance2
float64 obstacle_distance3
float64 obstacle_distance4

#obstacle_feed/Obstacles obstacles

float64 obstx_0
float64 obsty_0
float64 obsth_0
float64 obsta_0
float64 obstb_0

float64 obstx_1
float64 obsty_1
float64 obsth_1
float64 obsta_1
float64 obstb_1

float64 obstx_2
float64 obsty_2
float64 obsth_2
float64 obsta_2
float64 obstb_2

float64 obstx_3
float64 obsty_3
float64 obsth_3
float64 obsta_3
float64 obstb_3

float64 obstx_4
float64 obsty_4
float64 obsth_4
float64 obsta_4
float64 obstb_4

float64 obstx_5
float64 obsty_5
float64 obsth_5
float64 obsta_5
float64 obstb_5

float64[] robot_state

std_msgs/Float64MultiArray contour_errors

geometry_msgs/Twist computed_control
nav_msgs/Path reference_path
nav_msgs/Path prediction_horizon
